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rtabmap: Added global_pose input topic (can be used to add GPS/global localization values for graph optimization using g2o)

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matlabbe
2017-05-23 17:47:56 -04:00
parent f81edcf790
commit b6b5a1795e
2 changed files with 50 additions and 0 deletions
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include/rtabmap_ros/CoreWrapper.h
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@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <std_msgs/Empty.h>
#include <std_msgs/Int32.h>
#include <nav_msgs/GetMap.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <rtabmap/core/Parameters.h>
#include <rtabmap/core/Rtabmap.h>
@@ -116,6 +117,7 @@ private:
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
void goalCommonCallback(int id, const std::string & label, const rtabmap::Transform & pose, const ros::Time & stamp, double * planningTime = 0);
void goalCallback(const geometry_msgs::PoseStampedConstPtr & msg);
@@ -255,6 +257,9 @@ private:
ros::Subscriber userDataAsyncSub_;
cv::Mat userData_;
ros::Subscriber globalPoseAsyncSub_;
geometry_msgs::PoseWithCovarianceStamped globalPose_;
bool stereoToDepth_;
bool odomSensorSync_;
float rate_;